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<div class="header">
  <div class="summary">
<a href="#func-members">函数</a>  </div>
  <div class="headertitle">
<div class="title">shapes.h 文件参考</div>  </div>
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include &lt;pcl/ModelCoefficients.h&gt;</code><br />
<code>#include &lt;pcl/point_cloud.h&gt;</code><br />
<code>#include &lt;pcl/visualization/eigen.h&gt;</code><br />
<code>#include &lt;pcl/geometry/planar_polygon.h&gt;</code><br />
<code>#include &lt;pcl/visualization/common/impl/shapes.hpp&gt;</code><br />
</div>
<p><a href="shapes_8h_source.html">浏览源代码.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
函数</h2></td></tr>
<tr class="memitem:a50da15e5aac6b239552e56d5f3b0d209"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a50da15e5aac6b239552e56d5f3b0d209"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a50da15e5aac6b239552e56d5f3b0d209">pcl::visualization::createPolygon</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a50da15e5aac6b239552e56d5f3b0d209"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a 3d poly line from a set of points.  <a href="shapes_8h.html#a50da15e5aac6b239552e56d5f3b0d209">更多...</a><br /></td></tr>
<tr class="separator:a50da15e5aac6b239552e56d5f3b0d209"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a480eeeb88d5db9a5145ef7463dcc13ae"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a480eeeb88d5db9a5145ef7463dcc13ae"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a480eeeb88d5db9a5145ef7463dcc13ae">pcl::visualization::createPolygon</a> (const <a class="el" href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;planar_polygon)</td></tr>
<tr class="memdesc:a480eeeb88d5db9a5145ef7463dcc13ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a 3d poly line from a set of points on the boundary of a planar region.  <a href="shapes_8h.html#a480eeeb88d5db9a5145ef7463dcc13ae">更多...</a><br /></td></tr>
<tr class="separator:a480eeeb88d5db9a5145ef7463dcc13ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb746d0348192ce0950dc7adf19052f4"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">pcl::visualization::createLine</a> (const Eigen::Vector4f &amp;pt1, const Eigen::Vector4f &amp;pt2)</td></tr>
<tr class="memdesc:abb746d0348192ce0950dc7adf19052f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a line shape from two points  <a href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">更多...</a><br /></td></tr>
<tr class="separator:abb746d0348192ce0950dc7adf19052f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2a90030af80dd8874ca727d2cc2858f"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">pcl::visualization::createSphere</a> (const Eigen::Vector4f &amp;center, double radius, int res=10)</td></tr>
<tr class="memdesc:ab2a90030af80dd8874ca727d2cc2858f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a sphere shape from a point and a radius  <a href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">更多...</a><br /></td></tr>
<tr class="separator:ab2a90030af80dd8874ca727d2cc2858f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1aef97113fc6a707a7f133832fb78e6"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">pcl::visualization::createCylinder</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, int numsides=30)</td></tr>
<tr class="memdesc:aa1aef97113fc6a707a7f133832fb78e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a cylinder shape from a set of model coefficients.  <a href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">更多...</a><br /></td></tr>
<tr class="separator:aa1aef97113fc6a707a7f133832fb78e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27b62d4c72329ead01a5d0bdc29720b6"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a27b62d4c72329ead01a5d0bdc29720b6">pcl::visualization::createSphere</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, int res=10)</td></tr>
<tr class="memdesc:a27b62d4c72329ead01a5d0bdc29720b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a sphere shape from a set of model coefficients.  <a href="shapes_8h.html#a27b62d4c72329ead01a5d0bdc29720b6">更多...</a><br /></td></tr>
<tr class="separator:a27b62d4c72329ead01a5d0bdc29720b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a587f761c86fb1ffc1defe987dd039a7a"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a587f761c86fb1ffc1defe987dd039a7a">pcl::visualization::createLine</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients)</td></tr>
<tr class="memdesc:a587f761c86fb1ffc1defe987dd039a7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a line shape from a set of model coefficients.  <a href="shapes_8h.html#a587f761c86fb1ffc1defe987dd039a7a">更多...</a><br /></td></tr>
<tr class="separator:a587f761c86fb1ffc1defe987dd039a7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d7d6b7f35877b9feb237e898094c01e"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">pcl::visualization::createPlane</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients)</td></tr>
<tr class="memdesc:a3d7d6b7f35877b9feb237e898094c01e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a planar shape from a set of model coefficients.  <a href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">更多...</a><br /></td></tr>
<tr class="separator:a3d7d6b7f35877b9feb237e898094c01e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0bc1fdcd4b6a0012d0fb845b1819a6c1"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a0bc1fdcd4b6a0012d0fb845b1819a6c1">pcl::visualization::createPlane</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, double x, double y, double z)</td></tr>
<tr class="memdesc:a0bc1fdcd4b6a0012d0fb845b1819a6c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a planar shape from a set of model coefficients.  <a href="shapes_8h.html#a0bc1fdcd4b6a0012d0fb845b1819a6c1">更多...</a><br /></td></tr>
<tr class="separator:a0bc1fdcd4b6a0012d0fb845b1819a6c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9c0726430adf81fbdbbc8f21bec56d2"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">pcl::visualization::create2DCircle</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, double z=0.0)</td></tr>
<tr class="memdesc:ae9c0726430adf81fbdbbc8f21bec56d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a 2d circle shape from a set of model coefficients.  <a href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">更多...</a><br /></td></tr>
<tr class="separator:ae9c0726430adf81fbdbbc8f21bec56d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abcd9db6ceafdd6b36b3700df9134272d"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">pcl::visualization::createCone</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients)</td></tr>
<tr class="memdesc:abcd9db6ceafdd6b36b3700df9134272d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a cone shape from a set of model coefficients.  <a href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">更多...</a><br /></td></tr>
<tr class="separator:abcd9db6ceafdd6b36b3700df9134272d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab6ea58c22c330bda060ab17eece4cde0"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">pcl::visualization::createCube</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients)</td></tr>
<tr class="memdesc:ab6ea58c22c330bda060ab17eece4cde0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a cube shape from a set of model coefficients.  <a href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">更多...</a><br /></td></tr>
<tr class="separator:ab6ea58c22c330bda060ab17eece4cde0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56144f71a55dc5e87fb1a32634555c01"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a56144f71a55dc5e87fb1a32634555c01">pcl::visualization::createCube</a> (const Eigen::Vector3f &amp;translation, const Eigen::Quaternionf &amp;rotation, double width, double height, double depth)</td></tr>
<tr class="memdesc:a56144f71a55dc5e87fb1a32634555c01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a cube shape from a set of model coefficients.  <a href="shapes_8h.html#a56144f71a55dc5e87fb1a32634555c01">更多...</a><br /></td></tr>
<tr class="separator:a56144f71a55dc5e87fb1a32634555c01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c190a94892d418f0d3435dd8bcacada"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#a1c190a94892d418f0d3435dd8bcacada">pcl::visualization::createCube</a> (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max)</td></tr>
<tr class="memdesc:a1c190a94892d418f0d3435dd8bcacada"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a cube from a set of bounding points  <a href="shapes_8h.html#a1c190a94892d418f0d3435dd8bcacada">更多...</a><br /></td></tr>
<tr class="separator:a1c190a94892d418f0d3435dd8bcacada"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeabaade9c81f6faf7e6d0be905df8f6e"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">pcl::visualization::allocVtkUnstructuredGrid</a> (<a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkUnstructuredGrid &gt; &amp;polydata)</td></tr>
<tr class="memdesc:aeabaade9c81f6faf7e6d0be905df8f6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allocate a new unstructured grid smartpointer. For internal use only.  <a href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">更多...</a><br /></td></tr>
<tr class="separator:aeabaade9c81f6faf7e6d0be905df8f6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Define methods or creating 3D shapes from parametric models </p>
</div><h2 class="groupheader">函数说明</h2>
<a id="aeabaade9c81f6faf7e6d0be905df8f6e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeabaade9c81f6faf7e6d0be905df8f6e">&#9670;&nbsp;</a></span>allocVtkUnstructuredGrid()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PCL_EXPORTS void pcl::visualization::allocVtkUnstructuredGrid </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkUnstructuredGrid &gt; &amp;&#160;</td>
          <td class="paramname"><em>polydata</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Allocate a new unstructured grid smartpointer. For internal use only. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">polydata</td><td>the resultant unstructured grid. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="ae9c0726430adf81fbdbbc8f21bec56d2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae9c0726430adf81fbdbbc8f21bec56d2">&#9670;&nbsp;</a></span>create2DCircle()</h2>

<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::create2DCircle </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>z</em> = <code>0.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Create a 2d circle shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the model coefficients (x, y, radius) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>(optional) specify a z value (default: 0)</td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><span class="comment">// The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)</span></div>
<div class="line"><span class="comment">// float x, y, radius;</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> circle_coeff;</div>
<div class="line">circle_coeff.values.resize (3);    <span class="comment">// We need 3 values</span></div>
<div class="line">circle_coeff.values[0] = x;</div>
<div class="line">circle_coeff.values[1] = y;</div>
<div class="line">circle_coeff.values[2] = radius;</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">pcl::visualization::create2DCircle</a> (circle_coeff, z);</div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
<div class="ttc" id="ashapes_8h_html_ae9c0726430adf81fbdbbc8f21bec56d2"><div class="ttname"><a href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">pcl::visualization::create2DCircle</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; create2DCircle(const pcl::ModelCoefficients &amp;coefficients, double z=0.0)</div><div class="ttdoc">Create a 2d circle shape from a set of model coefficients.</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#abcd9db6ceafdd6b36b3700df9134272d">&#9670;&nbsp;</a></span>createCone()</h2>

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          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::createCone </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em></td><td>)</td>
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<p>Create a cone shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the cone coefficients (cone_apex, axis_direction, angle)</td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><span class="comment">// The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCone)</span></div>
<div class="line"><span class="comment">// Eigen::Vector3f cone_apex, axis_direction;</span></div>
<div class="line"><span class="comment">// float angle;</span></div>
<div class="line"><span class="comment">// Note: The height of the cone is set using the magnitude of the axis_direction vector.</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> cone_coeff;</div>
<div class="line">cone_coeff.values.resize (7);    <span class="comment">// We need 7 values</span></div>
<div class="line">cone_coeff.values[0] = cone_apex.x ();</div>
<div class="line">cone_coeff.values[1] = cone_apex.y ();</div>
<div class="line">cone_coeff.values[2] = cone_apex.z ();</div>
<div class="line">cone_coeff.values[3] = axis_direction.x ();</div>
<div class="line">cone_coeff.values[4] = axis_direction.y ();</div>
<div class="line">cone_coeff.values[5] = axis_direction.z ();</div>
<div class="line">cone_coeff.values[6] = angle (); <span class="comment">// degrees</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">pcl::visualization::createCone</a> (cone_coeff);</div>
<div class="ttc" id="ashapes_8h_html_abcd9db6ceafdd6b36b3700df9134272d"><div class="ttname"><a href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">pcl::visualization::createCone</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createCone(const pcl::ModelCoefficients &amp;coefficients)</div><div class="ttdoc">Create a cone shape from a set of model coefficients.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a56144f71a55dc5e87fb1a32634555c01">&#9670;&nbsp;</a></span>createCube() <span class="overload">[1/3]</span></h2>

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          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>translation</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>rotation</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>height</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>depth</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Create a cube shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">translation</td><td>a translation to apply to the cube from 0,0,0 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">rotation</td><td>a quaternion-based rotation to apply to the cube </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>the cube's width </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>the cube's height </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>the cube's depth </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab6ea58c22c330bda060ab17eece4cde0">&#9670;&nbsp;</a></span>createCube() <span class="overload">[2/3]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em></td><td>)</td>
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<p>Create a cube shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth) </td></tr>
  </table>
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<h2 class="memtitle"><span class="permalink"><a href="#a1c190a94892d418f0d3435dd8bcacada">&#9670;&nbsp;</a></span>createCube() <span class="overload">[3/3]</span></h2>

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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x_min</em>, </td>
        </tr>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>z_min</em>, </td>
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<p>Create a cube from a set of bounding points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x_min</td><td>is the minimum x value of the box </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">x_max</td><td>is the maximum x value of the box </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y_min</td><td>is the minimum y value of the box </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y_max</td><td>is the maximum y value of the box </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z_min</td><td>is the minimum z value of the box </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z_max</td><td>is the maximum z value of the box </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aa1aef97113fc6a707a7f133832fb78e6">&#9670;&nbsp;</a></span>createCylinder()</h2>

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          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::createCylinder </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>numsides</em> = <code>30</code>&#160;</td>
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<p>Create a cylinder shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the model coefficients (point_on_axis, axis_direction, radius) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">numsides</td><td>(optional) the number of sides used for rendering the cylinder</td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><span class="comment">// The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)</span></div>
<div class="line"><span class="comment">// Eigen::Vector3f pt_on_axis, axis_direction;</span></div>
<div class="line"><span class="comment">// float radius;</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> cylinder_coeff;</div>
<div class="line">cylinder_coeff.values.resize (7);    <span class="comment">// We need 7 values</span></div>
<div class="line">cylinder_coeff.values[0] = pt_on_axis.x ();</div>
<div class="line">cylinder_coeff.values[1] = pt_on_axis.y ();</div>
<div class="line">cylinder_coeff.values[2] = pt_on_axis.z ();</div>
<div class="line"> </div>
<div class="line">cylinder_coeff.values[3] = axis_direction.x ();</div>
<div class="line">cylinder_coeff.values[4] = axis_direction.y ();</div>
<div class="line">cylinder_coeff.values[5] = axis_direction.z ();</div>
<div class="line"> </div>
<div class="line">cylinder_coeff.values[6] = radius;</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">pcl::visualization::createCylinder</a> (cylinder_coeff, numsides);</div>
<div class="ttc" id="ashapes_8h_html_aa1aef97113fc6a707a7f133832fb78e6"><div class="ttname"><a href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">pcl::visualization::createCylinder</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createCylinder(const pcl::ModelCoefficients &amp;coefficients, int numsides=30)</div><div class="ttdoc">Create a cylinder shape from a set of model coefficients.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#abb746d0348192ce0950dc7adf19052f4">&#9670;&nbsp;</a></span>createLine() <span class="overload">[1/2]</span></h2>

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          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::createLine </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>pt1</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>pt2</em>&#160;</td>
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<p>Create a line shape from two points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pt1</td><td>the first point on the line </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt2</td><td>the end point on the line </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a587f761c86fb1ffc1defe987dd039a7a">&#9670;&nbsp;</a></span>createLine() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em></td><td>)</td>
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<p>Create a line shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the model coefficients (point_on_line, line_direction)</td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><span class="comment">// The following are given (or computed using sample consensus techniques -- see SampleConsensusModelLine)</span></div>
<div class="line"><span class="comment">// Eigen::Vector3f point_on_line, line_direction;</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> line_coeff;</div>
<div class="line">line_coeff.values.resize (6);    <span class="comment">// We need 6 values</span></div>
<div class="line">line_coeff.values[0] = point_on_line.x ();</div>
<div class="line">line_coeff.values[1] = point_on_line.y ();</div>
<div class="line">line_coeff.values[2] = point_on_line.z ();</div>
<div class="line"> </div>
<div class="line">line_coeff.values[3] = line_direction.x ();</div>
<div class="line">line_coeff.values[4] = line_direction.y ();</div>
<div class="line">line_coeff.values[5] = line_direction.z ();</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">pcl::visualization::createLine</a> (line_coeff);</div>
<div class="ttc" id="ashapes_8h_html_abb746d0348192ce0950dc7adf19052f4"><div class="ttname"><a href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">pcl::visualization::createLine</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createLine(const Eigen::Vector4f &amp;pt1, const Eigen::Vector4f &amp;pt2)</div><div class="ttdoc">Create a line shape from two points</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3d7d6b7f35877b9feb237e898094c01e">&#9670;&nbsp;</a></span>createPlane() <span class="overload">[1/2]</span></h2>

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          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::createPlane </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em></td><td>)</td>
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      </table>
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<p>Create a planar shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the model coefficients (a, b, c, d with ax+by+cz+d=0)</td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><span class="comment">// The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)</span></div>
<div class="line"><span class="comment">// Eigen::Vector4f plane_parameters;</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> plane_coeff;</div>
<div class="line">plane_coeff.values.resize (4);    <span class="comment">// We need 4 values</span></div>
<div class="line">plane_coeff.values[0] = plane_parameters.x ();</div>
<div class="line">plane_coeff.values[1] = plane_parameters.y ();</div>
<div class="line">plane_coeff.values[2] = plane_parameters.z ();</div>
<div class="line">plane_coeff.values[3] = plane_parameters.w ();</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">pcl::visualization::createPlane</a> (plane_coeff);</div>
<div class="ttc" id="ashapes_8h_html_a3d7d6b7f35877b9feb237e898094c01e"><div class="ttname"><a href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">pcl::visualization::createPlane</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createPlane(const pcl::ModelCoefficients &amp;coefficients)</div><div class="ttdoc">Create a planar shape from a set of model coefficients.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0bc1fdcd4b6a0012d0fb845b1819a6c1">&#9670;&nbsp;</a></span>createPlane() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em>, </td>
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          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>z</em>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Create a planar shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the model coefficients (a, b, c, d with ax+by+cz+d=0) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">x,y,z</td><td>projection of this point on the plane is used to get the center of the plane. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a480eeeb88d5db9a5145ef7463dcc13ae">&#9670;&nbsp;</a></span>createPolygon() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt; pcl::visualization::createPolygon </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>planar_polygon</em></td><td>)</td>
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<p>Create a 3d poly line from a set of points on the boundary of a planar region. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">planar_polygon</td><td>the set of points used to create the 3d polyline </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnstructuredGrid&gt;</a> poly_grid;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ().empty ())</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> (poly_grid);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> poly_points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolygon&gt;</a> polygon    = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolygon&gt;::New</a> ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  poly_points-&gt;SetNumberOfPoints (planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ().size () + 1);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  polygon-&gt;GetPointIds ()-&gt;SetNumberOfIds (planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ().size () + 1);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">for</span> (i = 0; i &lt; planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ().size (); ++i)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    poly_points-&gt;SetPoint (i, planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[i].x, </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                              planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[i].y, </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                              planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[i].z);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    polygon-&gt;GetPointIds ()-&gt;SetId (i, i);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  poly_points-&gt;SetPoint (i, planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[0].x, </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                            planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[0].y, </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                            planar_polygon.<a class="code" href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">getContour</a> ()[0].z);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  polygon-&gt;GetPointIds ()-&gt;SetId (i, i);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">allocVtkUnstructuredGrid</a> (poly_grid);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  poly_grid-&gt;Allocate (1, 1);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  poly_grid-&gt;InsertNextCell (polygon-&gt;GetCellType (), polygon-&gt;GetPointIds ());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  poly_grid-&gt;SetPoints (poly_points);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">return</span> (poly_grid);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_planar_polygon_html_ac657798ccb001cc71aafdf2f683f2c4b"><div class="ttname"><a href="classpcl_1_1_planar_polygon.html#ac657798ccb001cc71aafdf2f683f2c4b">pcl::PlanarPolygon::getContour</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::VectorType &amp; getContour()</div><div class="ttdoc">Getter for the contour / boundary</div><div class="ttdef"><b>Definition:</b> planar_polygon.h:87</div></div>
<div class="ttc" id="ashapes_8h_html_aeabaade9c81f6faf7e6d0be905df8f6e"><div class="ttname"><a href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">pcl::visualization::allocVtkUnstructuredGrid</a></div><div class="ttdeci">PCL_EXPORTS void allocVtkUnstructuredGrid(vtkSmartPointer&lt; vtkUnstructuredGrid &gt; &amp;polydata)</div><div class="ttdoc">Allocate a new unstructured grid smartpointer. For internal use only.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a50da15e5aac6b239552e56d5f3b0d209">&#9670;&nbsp;</a></span>createPolygon() <span class="overload">[2/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataSet &gt; pcl::visualization::createPolygon </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
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<p>Create a 3d poly line from a set of points. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the set of points used to create the 3d polyline </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnstructuredGrid&gt;</a> poly_grid;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;points.empty ())</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> (poly_grid);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> poly_points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolygon&gt;</a> polygon    = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolygon&gt;::New</a> ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  poly_points-&gt;SetNumberOfPoints (cloud-&gt;points.size ());</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  polygon-&gt;GetPointIds ()-&gt;SetNumberOfIds (cloud-&gt;points.size ());</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">for</span> (i = 0; i &lt; cloud-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    poly_points-&gt;SetPoint (i, cloud-&gt;points[i].x, cloud-&gt;points[i].y, cloud-&gt;points[i].z);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    polygon-&gt;GetPointIds ()-&gt;SetId (i, i);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">allocVtkUnstructuredGrid</a> (poly_grid);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  poly_grid-&gt;Allocate (1, 1);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  poly_grid-&gt;InsertNextCell (polygon-&gt;GetCellType (), polygon-&gt;GetPointIds ());</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  poly_grid-&gt;SetPoints (poly_points);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">return</span> (poly_grid);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab2a90030af80dd8874ca727d2cc2858f">&#9670;&nbsp;</a></span>createSphere() <span class="overload">[1/2]</span></h2>

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          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::createSphere </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>center</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>res</em> = <code>10</code>&#160;</td>
        </tr>
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          <td>)</td>
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<p>Create a sphere shape from a point and a radius </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">center</td><td>the center of the sphere (as an Eigen Vector4f, with only the first 3 coordinates used) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td>the radius of the sphere </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">res</td><td>(optional) the resolution used for rendering the model </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a27b62d4c72329ead01a5d0bdc29720b6">&#9670;&nbsp;</a></span>createSphere() <span class="overload">[2/2]</span></h2>

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          <td class="memname">PCL_EXPORTS <a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt;vtkDataSet&gt; pcl::visualization::createSphere </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;&#160;</td>
          <td class="paramname"><em>coefficients</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>res</em> = <code>10</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<p>Create a sphere shape from a set of model coefficients. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coefficients</td><td>the model coefficients (sphere center, radius) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">res</td><td>(optional) the resolution used for rendering the model</td></tr>
  </table>
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<div class="fragment"><div class="line"><span class="comment">// The following are given (or computed using sample consensus techniques -- see SampleConsensusModelSphere)</span></div>
<div class="line"><span class="comment">// Eigen::Vector3f sphere_center;</span></div>
<div class="line"><span class="comment">// float radius;</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> sphere_coeff;</div>
<div class="line">sphere_coeff.values.resize (4);    <span class="comment">// We need 4 values</span></div>
<div class="line">sphere_coeff.values[0] = sphere_center.x ();</div>
<div class="line">sphere_coeff.values[1] = sphere_center.y ();</div>
<div class="line">sphere_coeff.values[2] = sphere_center.z ();</div>
<div class="line"> </div>
<div class="line">sphere_coeff.values[3] = radius;</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">pcl::visualization::createSphere</a> (sphere_coeff, resolution);</div>
<div class="ttc" id="ashapes_8h_html_ab2a90030af80dd8874ca727d2cc2858f"><div class="ttname"><a href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">pcl::visualization::createSphere</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createSphere(const Eigen::Vector4f &amp;center, double radius, int res=10)</div><div class="ttdoc">Create a sphere shape from a point and a radius</div></div>
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